A novel 5-axis hybrid reconfigurable robot named Tricept-IV, including one 4-degree-of-freedom (4DOF) hybrid module and one 2DOF end effector, is investigated. Compared with extensive research that has been pursued for the parallel kinematic machines such as Tricept, Sprint Z3 Head, and so on, the hybrid kinematic machines have not adequately been studied. This paper demonstrates a method of workspace decomposition applied in the dimensional synthesis of a 4DOF hybrid module, which is the underlying architecture of the newly invented robot. This paper starts with an introduction of the Tricept-IV robot. After dividing the 4DOF hybrid module into one position-orientation coupling (POC) subsystem and one position-feed (PF) subsystem, its workspace is decomposed into POC and PF subspaces accordingly, and then the inverse position problem may be solved by means of one prejudgment method. Furthermore, the Jacobian matrix of the POC subsystem is obtained by the screw theory so as to formulate its kinematic performance index. Finally, the dimensional synthesis based on workspace decomposition of the hybrid module is carried out by taking a global view of the dimensional synthesis of these two subsystems.
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August 2010
Research Papers
Workspace Decomposition Based Dimensional Synthesis of a Novel Hybrid Reconfigurable Robot
Tao Sun,
Tao Sun
School of Mechanical Engineering,
e-mail: suntaotju@gmail.com
Tianjin University
, Tianjin 300072, P.R. China
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Yimin Song,
Yimin Song
Professor
School of Mechanical Engineering,
e-mail: ymsong@tju.edu.cn
Tianjin University
, Tianjin 300072, P.R. China
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Yonggang Li,
Yonggang Li
School of Mechanical Engineering,
e-mail: lygang1975@163.com
Tianjin University of Technology and Education
, Tianjin 300222, P.R. China
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Jun Zhang
Jun Zhang
School of Mechanical Engineering,
e-mail: zhang_jun@tju.edu.cn
Tianjin University
, Tianjin 300072, P.R. China
Search for other works by this author on:
Tao Sun
School of Mechanical Engineering,
Tianjin University
, Tianjin 300072, P.R. Chinae-mail: suntaotju@gmail.com
Yimin Song
Professor
School of Mechanical Engineering,
Tianjin University
, Tianjin 300072, P.R. Chinae-mail: ymsong@tju.edu.cn
Yonggang Li
School of Mechanical Engineering,
Tianjin University of Technology and Education
, Tianjin 300222, P.R. Chinae-mail: lygang1975@163.com
Jun Zhang
School of Mechanical Engineering,
Tianjin University
, Tianjin 300072, P.R. Chinae-mail: zhang_jun@tju.edu.cn
J. Mechanisms Robotics. Aug 2010, 2(3): 031009 (8 pages)
Published Online: July 21, 2010
Article history
Received:
October 20, 2009
Revised:
March 27, 2010
Online:
July 21, 2010
Published:
July 21, 2010
Citation
Sun, T., Song, Y., Li, Y., and Zhang, J. (July 21, 2010). "Workspace Decomposition Based Dimensional Synthesis of a Novel Hybrid Reconfigurable Robot." ASME. J. Mechanisms Robotics. August 2010; 2(3): 031009. https://doi.org/10.1115/1.4001781
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